/PROG  TL2_PICK
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL2 PICK";
PROG_SIZE	= 1693;
CREATE		= DATE 12-04-10  TIME 21:17:00;
MODIFIED	= DATE 12-10-25  TIME 01:28:36;
FILE_NAME	= TL2_DROP;
VERSION		= 0;
LINE_COUNT	= 32;
MEMORY_SIZE	= 2197;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:  LBL[10] ;
   2:  UFRAME_NUM=0 ;
   3:  UTOOL_NUM=1 ;
   4:  WAIT DI[26]=ON    ;
   5:   ;
   6:J P[1:CLEAR] 50% CNT50    ;
   7:J P[2:CLEAR] 50% CNT50    ;
   8:J P[3:CLEAR] 50% CNT50    ;
   9:J P[4:CLEAR] 50% CNT50    ;
  10:J P[8:APPROACH] 30% CNT50    ;
  11:J P[9:APPROACH] 30% CNT50    ;
  12:L P[10:APPROACH] 300mm/sec CNT50    ;
  13:  DO[14]=ON ;
  14:  WAIT DI[14]=ON    ;
  15:  WAIT    .50(sec) ;
  16:L P[11:PICK] 100mm/sec FINE ACC50 DB    0.0mm,DO[21]=ON    ;
  17:  WAIT   1.00(sec) ;
  18:  DO[14]=OFF ;
  19:  DO[13]=ON ;
  20:  WAIT DI[13]=ON    ;
  21:  WAIT   1.00(sec) ;
  22:L P[12:APPROACH] 300mm/sec FINE DB    0.0mm,DO[21]=OFF    ;
  23:  WAIT DI[26]=OFF    ;
  24:L P[13:APPROACH] 500mm/sec CNT50    ;
  25:J P[14:APPROACH] 30% CNT50    ;
  26:J P[15:CLEAR] 30% CNT50    ;
  27:J P[16:CLEAR] 50% CNT100    ;
  28:J P[17:CLEAR] 50% CNT50    ;
  29:J P[18:CLEAR] 50% CNT50    ;
  30:J P[19:CLEAR] 50% CNT50    ;
  31:J P[20:CLEAR] 50% CNT50    ;
  32:  MOVE TO HOME    ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    44.011 deg,	J2=   -87.080 deg,	J3=    90.000 deg,
	J4=     8.668 deg,	J5=   -86.410 deg,	J6=  -102.928 deg
};
P[2:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    79.571 deg,	J2=   -81.938 deg,	J3=    89.820 deg,
	J4=    89.989 deg,	J5=   -75.422 deg,	J6=   -94.260 deg
};
P[3:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  -325.007  mm,	Y =  2707.689  mm,	Z =  2280.758  mm,
	W =   -90.785 deg,	P =   -85.911 deg,	R =   -56.116 deg
};
P[4:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   168.853 deg,	J2=   -82.496 deg,	J3=    75.427 deg,
	J4=    92.163 deg,	J5=   -75.580 deg,	J6=  -111.661 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   198.963 deg,	J2=   -51.821 deg,	J3=    84.568 deg,
	J4=     7.935 deg,	J5=   -87.579 deg,	J6=    19.938 deg
};
P[9:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   206.321 deg,	J2=   -19.924 deg,	J3=    59.420 deg,
	J4=    75.678 deg,	J5=  -112.596 deg,	J6=    56.608 deg
};
P[10:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   203.537 deg,	J2=   -27.827 deg,	J3=    55.270 deg,
	J4=    76.392 deg,	J5=  -108.316 deg,	J6=    52.669 deg
};
P[11:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, 0',
	X = -2960.998  mm,	Y =  -671.021  mm,	Z = -1623.767  mm,
	W =   142.377 deg,	P =    89.669 deg,	R =  -126.763 deg
};
P[12:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   202.312 deg,	J2=   -31.251 deg,	J3=    55.562 deg,
	J4=    77.250 deg,	J5=  -107.399 deg,	J6=    53.351 deg
};
P[13:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   206.609 deg,	J2=   -26.681 deg,	J3=    60.916 deg,
	J4=    76.567 deg,	J5=  -112.175 deg,	J6=    57.867 deg
};
P[14:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   204.480 deg,	J2=   -36.249 deg,	J3=    71.238 deg,
	J4=    62.302 deg,	J5=  -102.895 deg,	J6=    54.156 deg
};
P[15:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   204.480 deg,	J2=   -50.537 deg,	J3=    71.238 deg,
	J4=    71.549 deg,	J5=  -102.895 deg,	J6=   -70.787 deg
};
P[16:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   186.358 deg,	J2=   -91.506 deg,	J3=    83.487 deg,
	J4=    77.924 deg,	J5=   -91.685 deg,	J6=   -87.490 deg
};
P[17:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   168.853 deg,	J2=   -82.496 deg,	J3=    75.427 deg,
	J4=    92.163 deg,	J5=   -75.580 deg,	J6=  -111.661 deg
};
P[18:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  -325.007  mm,	Y =  2707.689  mm,	Z =  2280.758  mm,
	W =   -90.785 deg,	P =   -85.911 deg,	R =   -56.116 deg
};
P[19:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    79.571 deg,	J2=   -81.938 deg,	J3=    89.820 deg,
	J4=    89.989 deg,	J5=   -75.422 deg,	J6=   -94.260 deg
};
P[20:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    44.011 deg,	J2=   -87.080 deg,	J3=    90.000 deg,
	J4=     8.668 deg,	J5=   -86.410 deg,	J6=  -102.928 deg
};
/END
